CPointCloudFilterBase.h

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/* +---------------------------------------------------------------------------+
|                     Mobile Robot Programming Toolkit (MRPT)               |
|                          http://www.mrpt.org/                             |
|                                                                           |
| Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
| See: http://www.mrpt.org/Authors - All rights reserved.                   |
| Released under BSD License. See details in http://www.mrpt.org/License    |
+---------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/system/datetime.h>
#include <mrpt/maps/link_pragmas.h>
#include <mrpt/otherlibs/stlplus/smart_ptr.hpp>
#include <vector>

namespace mrpt
{
        namespace poses { class CPose3D; }
        namespace maps { class CPointsMap; }

        namespace maps
        {
                /** Virtual base class for all point-cloud filtering algorithm. See derived classes for implementations.
                * \sa CPointsMap
                * \ingroup mrpt_maps_grp
                */
                class MAPS_IMPEXP CPointCloudFilterBase
                {
                public:
                        CPointCloudFilterBase();
                        virtual ~CPointCloudFilterBase();

                        struct MAPS_IMPEXP TExtraFilterParams
                        {
                                std::vector<bool>  * out_deletion_mask; //!< If a pointer is provided to a user-given container, the list of points to be deleted will be marked here with `true`.
                                bool do_not_delete;                     //!< (Default:false) If true, only `out_deletion_mask` is filled in, but the filtered-out points will be not actually removed.

                                TExtraFilterParams();
                        };

                        /** Apply the filtering algorithm to the pointcloud. */
                        virtual void filter(
                                mrpt::maps::CPointsMap * inout_pointcloud,       //!< [in,out] The input pointcloud, which will be modified upon return after filtering.
                                const mrpt::system::TTimeStamp pc_timestamp,     //!< [in] The timestamp of the input pointcloud
                                const mrpt::poses::CPose3D & pc_reference_pose,  //!< [in] If NULL, the PC is assumed to be given in global coordinates. Otherwise, it will be transformed from local coordinates to global using this transformation.
                                TExtraFilterParams * params = nullptr            //!< [in,out] additional in/out parameters
                        ) = 0;
                };

                typedef stlplus::smart_ptr<CPointCloudFilterBase> CPointCloudFilterBasePtr;

        }
} // End of namespace